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Updated: Jan 28, 2026

Behavioral Assessment of Manual Dexterity in Non-Human Primates
Published on: November 11, 2011
Finger Unit Design for Hybrid-Driven Dexterous Hands
Chong Deng1, Wenhao Lu1, Yizhou Qian2
1School of Intelligent Manufacturing, Jiangnan University, Wuxi 214122, China.
None:
Dexterous hands are the core end-effectors of humanoid robots, and their design is a key research focus in this field. With multiple independent finger units, the units' dexterity directly determines the hand's operational performance, yet achieving three-degree-of-freedom (3-DOF) anthropomorphic motion remains a key design challenge. To address this, this paper proposes a hybrid-driven index finger unit: combining linkage and tendon-cable drive advantages to realize 3-DOF anthropomorphic motion, and adopting independent drive/transmission modules to simplify manufacturing and boost parameter optimization flexibility. Validated via motion dynamics, DOF, and operational force assessments, this design offers key unit tech for dexterous hand development and serves as a reference for optimizing multi-DOF anthropomorphic finger designs.
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